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Merge branch 'dev' of https://github.com/chameleon-vision/Chameleon-Vision into dev

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This commit is contained in:
Matt
2020-01-15 21:45:45 -08:00
parent 82a779743e c5a1694012
commit d28cf8ef63
5 changed files with 102 additions and 54 deletions
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4
chameleon-server/src/main/java/com/chameleonvision/vision/VisionManager.java
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@@ -15,9 +15,9 @@ import org.opencv.videoio.VideoCapture;
import java.util.*;
import java.util.stream.Collectors;
@SuppressWarnings("rawtypes")
public class VisionManager {
private VisionManager() {
}
private VisionManager() {}
private static final LinkedHashMap<String, UsbCameraInfo> usbCameraInfosByCameraName = new LinkedHashMap<>();
private static final LinkedList<FullCameraConfiguration> loadedCameraConfigs = new LinkedList<>();

43
chameleon-server/src/main/java/com/chameleonvision/vision/VisionProcess.java
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@@ -4,6 +4,7 @@ import com.chameleonvision.Debug;
import com.chameleonvision.config.CameraCalibrationConfig;
import com.chameleonvision.config.CameraConfig;
import com.chameleonvision.config.ConfigManager;
import com.chameleonvision.networktables.NetworkTablesManager;
import com.chameleonvision.scripting.ScriptEventType;
import com.chameleonvision.scripting.ScriptManager;
import com.chameleonvision.config.FullCameraConfiguration;
@@ -33,6 +34,7 @@ import java.util.concurrent.LinkedBlockingDeque;
import java.util.stream.Collectors;
@SuppressWarnings("rawtypes")
public class VisionProcess {
private final USBCameraCapture cameraCapture;
@@ -113,26 +115,26 @@ public class VisionProcess {
public void setCameraNickname(String newName) {
getCamera().getProperties().setNickname(newName);
var newTable = NetworkTableInstance.getDefault().getTable("/chameleon-vision/" + newName);
resetNT(newTable);
NetworkTable camTable = NetworkTablesManager.kRootTable.getSubTable(newName);
resetNT(camTable);
}
private void initNT(NetworkTable newTable) {
tableInstance = newTable.getInstance();
ntPipelineEntry = newTable.getEntry("pipeline");
ntDriverModeEntry = newTable.getEntry("driverMode");
ntPitchEntry = newTable.getEntry("targetPitch");
ntYawEntry = newTable.getEntry("targetYaw");
ntAreaEntry = newTable.getEntry("targetArea");
ntLatencyEntry = newTable.getEntry("latency");
ntValidEntry = newTable.getEntry("isValid");
ntAuxListEntry = newTable.getEntry("auxTargets");
ntPoseEntry = newTable.getEntry("targetPose");
ntFittedHeightEntry = newTable.getEntry("targetFittedHeight");
ntFittedWidthEntry = newTable.getEntry("targetFittedWidth");
ntBoundingHeightEntry = newTable.getEntry("targetBoundingHeight");
ntBoundingWidthEntry = newTable.getEntry("targetBoundingWidth");
ntTargetRotation = newTable.getEntry("targetRotation");
private void initNT(NetworkTable camTable) {
tableInstance = camTable.getInstance();
ntPipelineEntry = camTable.getEntry("pipeline");
ntDriverModeEntry = camTable.getEntry("driverMode");
ntPitchEntry = camTable.getEntry("targetPitch");
ntYawEntry = camTable.getEntry("targetYaw");
ntAreaEntry = camTable.getEntry("targetArea");
ntLatencyEntry = camTable.getEntry("latency");
ntValidEntry = camTable.getEntry("isValid");
ntAuxListEntry = camTable.getEntry("auxTargets");
ntPoseEntry = camTable.getEntry("targetPose");
ntFittedHeightEntry = camTable.getEntry("targetFittedHeight");
ntFittedWidthEntry = camTable.getEntry("targetFittedWidth");
ntBoundingHeightEntry = camTable.getEntry("targetBoundingHeight");
ntBoundingWidthEntry = camTable.getEntry("targetBoundingWidth");
ntTargetRotation = camTable.getEntry("targetRotation");
ntDriveModeListenerID = ntDriverModeEntry.addListener(this::setDriverMode, EntryListenerFlags.kUpdate);
ntPipelineListenerID = ntPipelineEntry.addListener(this::setPipeline, EntryListenerFlags.kUpdate);
ntDriverModeEntry.setBoolean(false);
@@ -165,7 +167,6 @@ public class VisionProcess {
}
public void setDriverModeEntry(boolean isDriverMode) {
// if it's null, we haven't even started the program yet, so just return
// otherwise, set it.
if (ntDriverModeEntry != null) {
@@ -184,7 +185,7 @@ public class VisionProcess {
HashMap<String, Object> WebSend = new HashMap<>();
HashMap<String, Object> point = new HashMap<>();
HashMap<String, Object> pointMap = new HashMap<>();
ArrayList<Object> webTargets = new ArrayList<Object>();
ArrayList<Object> webTargets = new ArrayList<>();
List<Double> center = new ArrayList<>();
@@ -383,7 +384,5 @@ public class VisionProcess {
temp /= 7.0;
return temp;
}
}
}